/PROG  TL2_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 PICK";
PROG_SIZE	= 1268;
CREATE		= DATE 12-04-21  TIME 11:00:18;
MODIFIED	= DATE 24-03-30  TIME 22:45:52;
FILE_NAME	= TL1_PICK;
VERSION		= 0;
LINE_COUNT	= 27;
MEMORY_SIZE	= 1664;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=ON    ;
   6:J P[1:CLEAR] 80% CNT50    ;
   7:L P[4:APPROACH] 600mm/sec CNT50 ACC70    ;
   8:L P[5:APPROACH] 300mm/sec CNT50    ;
   9:L P[6:APPROACH] 300mm/sec FINE    ;
  10:  DO[13:REQ ATC CHUCK]=OFF ;
  11:  DO[14:REQ ATC UNCHUCK]=ON ;
  12:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  13:  WAIT    .50(sec) ;
  14:L P[7:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  15:  WAIT   1.00(sec) ;
  16:  DO[21:TOOL2 POS]=ON ;
  17:  DO[14:REQ ATC UNCHUCK]=OFF ;
  18:  DO[13:REQ ATC CHUCK]=ON ;
  19:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  20:  WAIT   1.00(sec) ;
  21:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  22:L P[9:APPROACH] 300mm/sec CNT50    ;
  23:  WAIT DI[26:TOOL #2]=OFF    ;
  24:L P[10:APPROACH] 300mm/sec CNT50    ;
  25:L P[1:CLEAR] 600mm/sec CNT30 ACC70    ;
  26:   ;
  27:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=     8.966 deg,	J2=   -30.681 deg,	J3=    65.756 deg,
	J4=      .000 deg,	J5=   -65.755 deg,	J6=   261.001 deg,
	E1=    14.706 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.857 deg,	J2=   -20.828 deg,	J3=    84.511 deg,
	J4=   -86.758 deg,	J5=  -110.617 deg,	J6=   278.269 deg,
	E1=    15.815 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3285.843  mm,	Y =  -714.439  mm,	Z = -1114.559  mm,
	W =  -118.708 deg,	P =    87.731 deg,	R =   -28.714 deg,
	E1=    15.815 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.337  mm,	Y =  -613.969  mm,	Z = -1418.552  mm,
	W =   -73.812 deg,	P =    88.424 deg,	R =    16.507 deg,
	E1=    14.505 deg
};
P[7:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.335  mm,	Y =  -447.488  mm,	Z = -1418.551  mm,
	W =   -78.824 deg,	P =    88.458 deg,	R =    11.497 deg,
	E1=    14.505 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.180  mm,	Y =  -456.966  mm,	Z = -1340.791  mm,
	W =   -74.180 deg,	P =    88.437 deg,	R =    16.133 deg,
	E1=    14.505 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.181  mm,	Y =  -612.726  mm,	Z = -1340.791  mm,
	W =   -74.181 deg,	P =    88.437 deg,	R =    16.133 deg,
	E1=    14.505 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.000  mm,	Y =  -612.000  mm,	Z = -1000.000  mm,
	W =   180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.815 deg
};
/END
